CN106444854A - Closed loop control system for heliostats - Google Patents
Closed loop control system for heliostats Download PDFInfo
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- CN106444854A CN106444854A CN201610630798.7A CN201610630798A CN106444854A CN 106444854 A CN106444854 A CN 106444854A CN 201610630798 A CN201610630798 A CN 201610630798A CN 106444854 A CN106444854 A CN 106444854A
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- Prior art keywords
- heliostat
- sensing
- receiver
- target area
- distribution
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
- F24S50/20—Arrangements for controlling solar heat collectors for tracking
- F24S2050/25—Calibration means; Methods for initial positioning of solar concentrators or solar receivers
Abstract
The invention relates to a closed loop control system for heliostats. Described herein is a control system for a solar energy collection apparatus (1). The apparatus includes a plurality of individually angularly controllable heliostats (3) disposed 5 adjacent to a central receiver (5). The heliostats are able to be tilted to reflect solar energy towards a target region of the central receiver (5) as a beam of solid angle. The control system includes a measuring device (23) capable of being scanned across a surface of the central receiver (5) including the target region. The measuring device (23) includes a distribution (31) of photo sensors (33) configured to sense the presence of the beam from 10 each heliostat. The control system further includes a controller (21) for performing a closed-loop control procedure (43) to iteratively vary a pointing direction of each heliostat to bring the respective beam into the target region.
Description
Related application and patent
Entitled " Monitoring and measuring of multiple light sources especially
PCT Patent Application PCT/AU2015/000066 of heliostats ".
PCT Patent Application PCT/AU2011/ of entitled " Heliostat calibration and control "
001687, it is published as WO 2012/083383 A1.
The Australian Patent 2012203230 of entitled " Heliostat calibration and control ", it is
The national applications of PCT/AU2011/001687.
The Australian Patent 2012203231 of entitled " Heliostat control ", it is PCT/AU2011/001687
National applications.
The Australian Patent 2012203234 of entitled " Heliostat control ", it is PCT/AU2011/001687
National applications.
Chinese patent application 4782/CHENP/2013 of entitled " Heliostat control ", it is PCT/AU2011/
001687 national applications.
The U.S. Patent application 4782/CHENP/2013 of entitled " Heliostat control ", it is PCT/AU2011/
001687 national applications.
The south african patent 2013/05428 of entitled " Heliostat control ", it is the state of PCT/AU2011/001687
Family's application.
Technical field
This invention relates generally to the solar energy collecting system of such as heliostat system etc.More specifically, the present invention
Embodiment is related to a kind of multiple fixed on one or more solar energy receivers for including being configured to be directed to solar energy
The control system of the solar energy collecting system of solar eyepiece.
Although herein some embodiments will be described in the case of with particular reference to this application, will be appreciated that is
The invention is not restricted to such use field, and can be suitable under wider range of background.
Background technology
Never should by any discussion of the background technology throughout this specification be considered such technology be widely known or
Form the accreditation of the part for common general knowledge in this area.
The solar energy collecting system combining heliostat includes a kind of control system, and it is responsible for controlling the angle of each heliostat
Degree is efficiently solar energy to be directed on central Energy collector.Currently known control system requires to face the subset of heliostat
When be rerouted to auxiliary mark in case recalibration and be subsequently based on calibration data and make heliostat alter course return to main target.Knot
Fruit is to provide accurate guiding coordinate for each heliostat, and this should ideally calibrate to heliostat.
The degree of accuracy of these systems and limited performance therefore are in the multiple limits being caused by the non-ideal behavior of control system
System.These non-ideal behavior include：
Heliostat controls the nonlinear response to input control signal for the sighting system.For example, this sighting system can have control letter
Number and point between delayed.Additionally, this sighting system can be in conjunction with the element with dynamic characteristic, such as with respect to the time to control
Signal is integrated or differential can have the mechanism of unknown gain, constant etc..
Heliostat controls the uncertainty response to control signal for the sighting system.For example, this system can be vulnerable to noise or
The impact of other uncertain disturbances.This system is likely to due to the Different climate bar to such as temperature, humidity or rainfall etc
The response known little about it of part or have difference within its life-span because variable-quality system component is in different state of wear
Strange land is responded.
In order to solve above-mentioned accuracy it has been proposed that the closed-loop control of heliostat.
In Kribus, A et al. in Energy, 2004,29, (5 6), " the Closed loop in 905 913
In control of heliostats ", provide closed-loop control using the camera placed round receiver.
In Convery, " Closed-loop control for power in Proc.of SPIE 2011 for the M. R.
In tower heliostats ", vibrate heliostat using piezo-activator and to be identified on the receiver using vibration frequency
Heliostat signal.
PCT Publication WO 2012/125748-A2 is related to one kind and is used for making daylight focus in target and observe repairing through optics
The method that the daylight changing and being distributed to drive light-redirecting element in the way of making the daylight through changed course focus on target part.
PCT Publication WO2012/125751 be related to a kind of for making the daylight from light source focus on receiver and relate to
And drive light-redirecting unit in the way of so that daylight is focused in target to using the diffraction daylight observed in closed-loop control system
The method of part.
PCT Publication WO2012/117123 is related to a kind of heliostat with closed-loop control system, and this closed-loop control system is led to
Cross the signal reaction ground supply from the sensor of comparison signal always.These signals control main drive and process auxiliary drive with
Just realize desired sensing condition at target.
United States Patent (USP) 9,010,317 are related to a kind of closed loop tracking system of the orientation for controlling settled date speculum, for example
Solar tracking system.This tracking system simultaneously passes through signal beam target from optical element transmitting and receipt signal beam.
U.S. Patent Application Publication 2012/174909 is related to a kind of system for controlling heliostat, this heliostat by with
Make thermal source with drive turbine engine in case produce solar energy, in the solar energy system of solar electrical energy generation factory and office, have for
Receive the camera of the daylight from reflecting element reflection.
All above-mentioned closed-loop systems depend on and are arranged on heliostat aid beam itself or optical device.Each settled date
The interpolation of the hardware on mirror device significantly increases complexity and the cost of system, and also the hardware fault in increase system
Possibility.
Therefore, the solar collecting device based on heliostat is expected more efficient control system.
Content of the invention
According to the first aspect of the invention, there is provided a kind of sensing for controlling the heliostat in solar collecting device
Method, the method comprises the steps：
a）Heliostat is made to point to certain direction so that incident solar energy sunward can receiver by the beam as solid angle
Target area reflection；
b）Sense the beam from heliostat using the distribution of the sensor in the path intercepting beam at a regular interval
Presence；
In this interim, execute closed loop control process iteratively to change the sensing of heliostat so that beam enters target area.
In one embodiment, sensor distribution be located at can be around on the arm of the surface movement of receiver.
In one embodiment, step c）Including sub-step：
c）i）Estimate beam position current on the receiver.
In one embodiment, step c）Including sub-step：
c）ii）Position current for estimated beam is compared with the position of target area, to derive position vector.
In one embodiment, step c）Including sub-step：
c）iii）Calculate sensing adjustment signal based on position vector, this sensing adjusts the actuator that signal is provided to heliostat
Control system is to change sensing.
In one embodiment, the estimated current location of beam is by the beam wheel being sensed by the distribution of sensor
Wide determination.
In one embodiment, predetermined space is in the range of 0.1 second to 1 minute.Preferably, this predetermined space is rule
Time interval.
In one embodiment, the point coordinates based on storage are come execution step a）.In another embodiment, in step a）
In, the position that heliostat sensing is calculated based on the previously determined position of modification.In certain embodiments, based on to outside
Reference and execution step a）.
Preferably, the method according to first aspect is simultaneously executed on multiple heliostats.
In one embodiment, the distribution of sensor can distinguish the beam from different heliostats in angle.
According to the second aspect of the invention, there is provided a kind of control system for solar collecting device, this device bag
Include the multiple individuality controlled heliostats of angle being arranged adjacent in central receiver, this heliostat can tilt to make solar energy
Beam for solid angle reflects towards the target area of central receiver, and this control system includes：
Measuring apparatus, it can be scanned across the surface of the central receiver including target area, and this measuring apparatus includes being joined
It is set to the distribution from the optical sensor of the presence of beam of heliostat for the sensing；And
Controller, it is used for executing closed loop control process iteratively to change the sensing of heliostat so that beam enters target area.
In one embodiment, described closed loop control process includes sub-step：
c）i）Estimate beam position current on the receiver.
In one embodiment, described closed loop control process includes sub-step：
c）ii）Position current for estimated beam is compared with the position of target area, to derive position vector.
In one embodiment, described closed loop control process includes sub-step：
c）iii）Calculate sensing adjustment signal based on position vector, this sensing adjusts the actuator that signal is provided to heliostat
Control system is to change sensing.
In one embodiment, described controller is further configured to execute initial sensing program so that heliostat points to
The general direction of target area.
In one embodiment, execute initial sensing program based on the point coordinates of storage.In another embodiment, exist
In initial sensing program, the position that heliostat sensing is calculated based on the previously determined position of modification.In some embodiments
In, initial sensing program is executed based on the reference to external field.
According to the third aspect of the invention we, there is provided one kind is used for monitoring and/or measure multiple directive radiation sources
Device, each radiation source using radiate to guide as the beam of limited solid angle, described device includes：
Measuring apparatus, it has the ability distinguishing mutually directive radiation source in angle；
In order to across or set by least 50% shock sector scanning measurement in the above of the beam of radiation from each radiation source
Standby part；And
In order to record respectively detecting at measuring apparatus during described scanning at the continuous position of measuring apparatus
The part of group multiple images；
Controller, it is used for executing closed loop control process iteratively to change the sensing of corresponding radiation source so that beam enters target
Area,
Wherein with measuring apparatus by across described sector scanning measuring apparatus various location record be derived from the plurality of
The radiation of directive radiation source, and this position is fully diacritic to allow surveying in described one group of multiple images
Amount equipment across or by the single sweep operation in described region during allow directive radiation source while measurement and/or monitor.
In one embodiment, described measuring apparatus include sensor array, and each sensor has multiple rdaiation responses
Pixel, and at each position of array, at the different respective subset of pixel, record is derived from multiple directive spokes
Penetrate the radiation in source, and subset in described one group of multiple images be fully diacritic with allow sensor array across or logical
Allow during the single sweep operation crossing described region to measure while directive radiation source and/or monitor.
In one embodiment, measuring apparatus include being configured to by radiation be directed on one or more sensors can
Tilting mirror array.In another embodiment, measuring apparatus include the single pixel phase with associated computer control
Machine array.
In one embodiment, described subset is mutual exclusion.In another embodiment, these subsets share one or many
Individual common pixels.
Brief description
The exemplary embodiment of the disclosure is only described in an illustrative manner, in the drawing referring now to accompanying drawing：
Fig. 1 is the schematic plan view of the solar energy collecting system of the circular field using multiple heliostats；
Fig. 2 is the schematic diagram in the direction illustrating solar energy to photosensor array；
Fig. 3 is the perspective view of the alternate embodiments receiver with substantially planar aperture；
Fig. 4 is the process flow diagram flow chart illustrating according to the key step in the heliostat calibration steps of the present invention；
Fig. 5 is the graphic representation of closed-loop control system；And
Fig. 6 is that the sequence of the beam being directed into target area in three iteration of closed-loop control represents.
Specific embodiment
The general introduction of solar energy collecting system
With reference to Fig. 1 it is illustrated that including being arranged to radial separation Circle-Array round substantially cylindrical center solar energy receiver 5
The plan of the solar energy collecting system 1 of multiple heliostats 3 of row.Typical solar energy collecting system includes hundreds of settled dates
Mirror, and be formed as the circular field in Fig. 1 or square or other shapes of field.
As illustrated in fig. 2, receiver 5 is installed on pylon 7, so as substantial horizontal arrangement heliostat field it
On vertically raise.In operation, heliostat is oriented to from the solar energy reflection of the sun and focus on connecing of receiver 5
Receive on surface 9.Receiving surface 9 is designed to receive the directional beam of solar energy from each heliostat field, and using concentration too
Sun for example can pass through to generate electricity to execute useful work.It will be appreciated that be become known for being converted into the solar energy receiving useful
The various technology of work(, and for simplicity, eliminate these technology from this description.It will also be appreciated that to be based on heliostat
Solar energy collecting system can use according to various other forms, including non-circular heliostat field, non-cylindrical receiver and very
To multiple receivers.
The heliostat using in FIG can have the heliostat design of any routine.For example, in WO 2012/
Suitable heliostat is described in 083383, and in the following description by the heliostat using these types.As optimal in Fig. 2
Shown in ground, each heliostat 11 includes the scrobicula face rectangular mirror being fixed in the framework 15 being pivotally mounted to pillar 17
13.The typical sizes of speculum are 2.4 meters and take advantage of 1.8 meters, and the typical focal length of speculum, in the range of 15 to 1000 meters, takes
The certainly position in the size of field and its in field.
Heliostat 11 also includes actuator system 19, and such as described in WO 2012/083383 A1, it is to being derived from
The control signal of central controller 21 is responded and so that speculum is oriented in two dimensions.Schemed in fig. 2
In the heliostat showing, the actuator system 19 of each heliostat includes the inclination of the speculum for respectively controlling heliostat
（inclination）And drift angle（declination）A pair of linear actuators.The Angle Position of each heliostat（Inclination and partially
Both angles）Determined by controller 21, it may include suitable computer system.Controller 21 is operatively coupled to all settled dates
The actuator of mirror is simultaneously, continuously or otherwise to control orientation angle or the sensing of each heliostat.Additionally, controlling
Device 21 can be operatively coupled to feedback transducer（Such as magnetic sensor）, by this feedback transducer, can keep to control
Device notifies actual angular position coordinate and the sensor distribution 31 of each heliostat.However, the operation of the present invention is mitigated or eliminated
Needs to such opened loop control of heliostat, and eliminate these feedback transducers in certain embodiments.Controller 21
Also can be responsible for by actuatable mechanism come the position of control arm 29 and speed.In other embodiments, for the control of measuring apparatus
System processed can be separated with control system of heliostat, but can be in communication with each other.Other embodiments can be opened up using other control systems
Flutter structure.The scanning of arm 29 and sensor 33 is independent of the angle positioning of heliostat.
Again referring to Fig. 2, measuring apparatus 23 are installed to be close to central receiver 5, in the present embodiment around axial rotation
Turning point 25 rotates.Equipment 23 includes the base 27 essentially horizontally extending, and it is by integrally or be releasably attached to basic
Upper vertically extending arm 29.Be installed to arm 29 is the space array of optical sensor 33 or other distribution 31, each have as
The subarray of the photoresponse pixel illustrated in the illustration in Fig. 2.Arm 29 be placed in the range of 10cm to 20m away from receiver 5
At a certain distance from surface.Arm 29 is swept around the corresponding heliostat from field that rotates of receiver 5 by the path of beam
Retouch distribution 31.Sensor 33 with predetermined sampling frequency measure light intensity so that sample round receiver map whole light field it is allowed to
Calculate the irradiation mapping on scanned surface for each heliostat.In certain embodiments, arm 29 can be at the top of receiver 5
Extend above and/or below the bottom of receiver 5 to detect the beam not being aligned with receiver 5.
In the illustrated embodiment, distribution 31 is the one-dimensional linear of the sensor 33 being substantially equally vertically spaced apart
Array.The horizontal scan motion of measuring apparatus 23 provides the two-dimensional array of sample point to be obtained.It will be appreciated, however, that to be
In other embodiments, distribution 31 can take other forms.Usually, sensor 33 need not separate identical distance, but can be with
There is between it the linear of different distances or Two dimensional Distribution and arrange.In certain embodiments, this distribution can be two-dimentional,
And high density sensor is had on the region of the arm 29 corresponding to central receiver region and is receiving corresponding to periphery
On the region of arm 29 in machine region, there is low-density sensor.
In other embodiments, using the measuring apparatus in addition to pel array.In some other embodiments, using can
Measure the same size of radiation and the measuring apparatus of orientation according to two angle dimensions come the position in substitute array 30
Detector.In alternate embodiments（Not shown）In, have and light is directed to corresponding optical pickocff or has many
The electric tiltable speculum in the different corner reflection areas of the single optical pickocff of individual rdaiation response pixel, lens, reflector/lens
Combination and/or the two-dimensional array having same size and orientation of speculum or lens.Speculum or lens are serially or parallel
Ground transmits light to optical pickocff.Can scanning reflection mirror/lens simultaneously be measured into the scanning with overall detector array
Light.In another alternate embodiments（Not shown）In, detector includes single pixel camera array, and each can be by place
The post processing of the reception optical signal at reason device（For example, via compression imaging technique）Light is carried out with space and angle is distinguished.
In fig. 2, the focused solar energy from heliostat 11 is illustrated as the gaussian beam hot spot 35 being distributed on 31.
It should be noted that the purpose of the particular aspects for the system that illustrates, Fig. 2 is not necessarily to scale.Especially, arm 29,
The ratio of distribution 31 and beam 35 is remarkably increased for the sake of understanding.In practice, it will be appreciated that be beam dimensions
Little or much bigger than the size of receiver 5.In a preferred embodiment, sensor 33 can be considered as digital camera sensor.
Base 27 is included for circumferentially scanning round receiver in a direction indicated by an arrow or inswept arm 29 He
The electronics of sensor distribution 31 may be actuated mechanism（Not shown）.Scanning motion guarantees in the distribution 31 of any one moment in receiver
And by intercepting the beam from the reflection of this subset between the subset of heliostat of array faced by current.And if when necessary,
Arm 29 can with receiver 5 misalignment position, so as not in the path of heliostat beam.
In figure 3 in shown alternate embodiments, receiver be shaped as square.In the present embodiment, may be actuated
Mechanism is configured on both forward and reverse directions across receiver scanning distribution 31 in a linear fashion.In other embodiments
（Not shown）In, arm 29 essentially horizontally extends, and can actuatably move in vertical direction.Connect having cylindrical shape
Receive in the embodiment on device surface, arm 29 takes the form of substantially cylindrical sleeve pipe, and it can be vertically movable around receiver.
In certain embodiments, there is provided for the actuator system of the advance movement of measuring apparatus 23.Implement at one
In example, base 27 telescopically or linearly-actuatablelyly with radially or make in other plane arm 29 mobile to closer to or farther
Surface from receiver 5.In another embodiment, arm 29 is hinged or is pivotally mounted to base 27, and actuator is configured
Become optionally make arm 29 vertically around hinge/pivot point rotate and from the path of heliostat beam out.
Actuatable mechanism is configured to make arm 29 with by the control signal determination from controller 21 or separate controller
Speed and direction are little by little moved across the surface of receiver 5 or are advanced.During predetermined amount of time, the different subsets of sensor 31
And its pixel detection carrys out the local luminous power of the single beam of the various adjacent heliostat in self-fields accordingly.By round
Receiver 5 is scanned, and distribution 31 can detect and measure the beam of all heliostats in field it is allowed to application is as described below
Closed loop heliostat control method.
The two-dimensional nature of sensor and pixel allows to determine overall beam profile（Such as Gaussian beam profile）And in angle
The different beams of upper differentiation are simultaneously mapped to specific heliostat so that independent control.
Closed loop control process
With reference now to Fig. 4, it is illustrated that for such as Fig. 1 etc the heliostat calibration steps 40 of system in key step.Fig. 4
Schematically illustrate the control system 50 of execution method 40, there is the major control centered on controller 21.It will be appreciated that
Be that control method described below can be distinguished different association beams in angle and simultaneously exists by using distribution 31
Execute on multiple heliostats.
Method 40 specifies that the termly sensing to each heliostat is calibrated or recalibration is so that heliostat makes incidence too
Positive radiation reflective simultaneously focuses on the target area of receiver 5.Target area can be defined as defining and be used for the ideal of this heliostat and refer to
To one group of two-dimensional coordinate or instruction wherein this heliostat should guide focus on solar radiation receiver 5 on 2 dimensional region one
Determine the two-dimensional coordinate of scope.In operation, the different target area on receiver 5 can be distributed so that focusing on too for each heliostat
Sun can be appropriately across the surface distributed of receipts machine 5 to prevent fault that is overheated and associating.Individually the target area of heliostat can be overlapping,
Or can be mutual exclusion.
In Fig. 3, illustrated calibration steps is as array and scans round receiver 5 or inswept and be adjacent to distribution
Periodically carry out on 31 heliostat.
Initially, at step 41, execute with regard to whether detecting at sensor array when initially starting in control method
Inspection to the beam of the solar energy for heliostat.This inspection is still can be with desired mesh from previous alignment loop in beam
Mark area executes when being closely aligned with.If being initially detected at least a portion of beam at distribution 31, before controlling directly
Proceed to closed-loop control subroutine.If however, being not detected by beam at distribution 31, having to carry out the assigned direction of heliostat
Initial step 42.
At step 42, controller 21 controls the actuator system 19 of heliostat so that incident the corresponding of solar energy is penetrated
Bundle is reflected towards the target area of receiver 5.
Step 42 can represent the initialization program that executes in the startup of system with substantially square in receiver 5 and distribution 31
Guide the beam of solar energy upwards.Execution step 42 subsequently can not be needed, except non-solar beam during operation by no
It is directed away from receiver 5 in meaning.Also can be in main closed-loop control angle measuring system due to such as losing daylight or monitored system
The reason restriction etc on the region monitoring and unavailable when as auxiliary method of sight execution step 42.
Can using the reference data being stored in database 52 based on many technology come initially specifying in execution step 42
Direction.In one embodiment, it is associated with this specific heliostat based on current position of sun with reference to sensing（According in the daytime when
Between, in year the longitude of time and heliostat and latitude determining）, and this is during initial assigned direction or when association beam
Used when direction becomes unknown.In another embodiment, when heliostat beam deviates（strays off）During target, can be based on
Previously determined position and realize reckoning positioning（dead reckoning）Program.In this reckoning positioning program, by with
Given information（The current location of the such as sun and the time experienced since front one-shot measurement）To change the previous of heliostat
Position and determine the new orientation of heliostat.Can reference based on the outfield to such as gravity etc and positioning control further is provided
System.
Can iterative step 41 and 42 until sensor distribution 31 at beam is detected till.Once being distributed 31 by sensor
One or more pixel detection to beam, then closed-loop control 43 can start.
At step 44, initially estimating of the position of beam centre is executed based on the particular sensor being illuminated and pixel
Meter.This estimates can be based on beam profile, its given beam shape and the intensity profile storing, such as Gaussian Profile.Use this information,
The center of beam can be estimated.For example, with reference to the panel A of Fig. 6）, gaussian beam be incident on distribution 31 multiple lower sensors on,
But beam centre still falls outside distribution 31.Become by the intensity of the part beam across the pixel being illuminated sensor for the detection
Change, controller 21 can estimate the possible position at the center of beam.From the illumination that detect of distribution 31 by as sensor array
Observe result 54 and be fed to controller 21, as illustrated in fig. 5.
At step 45, by the estimated location at the center of beam compared with the storage location in the expectation target area of this beam
Relatively.This allows controller X to derive and indicates current beam spot and expectation beam spot（Target area）Between direction and distance
Position vector.Carry out with regard to the beam centre whether judgement 46 in target area（By minimum close to requiring to limit）.If penetrated
In target area, then process terminates beam center, till again requiring that calibration in later time.If beam centre does not exist
In target area, then process and advance to step 47.
At step 47, controller 21 is based on defined location vector in step 46 and points to adjustment signal form to calculate
Actuator control signal.When being applied to heliostat actuator system 19, point to adjustment signal change heliostat point to
Make beam and target area more close proximity.
After the change that application is pointed to, process and return to step 44, there determine the new position of beam.This closed loop journey
Sequence iteratively continues till beam is determined to be in for the target area of the receiver 5 of this beam.This usually will require
Successive ignition.Fig. 6 illustrates showing during wherein closed loop control process guides beam to target area in three iteration of circulation
Example disposition border.
Rotate with respect to receiver 5 with measuring apparatus 23, while target area is fixed on receiver 5, distribution
31 must be always known to controller 21 with respect to the relative position of receiver 5 to execute accurate heliostat control.
Program 40 is iteratively performed with across the surface scan of receiver 5 or inswept arm 29 and distribution 31, and can be
It is adjacent in the public domain of current location of distribution 31 and simultaneously execute on multiple heliostats.Arm 29 can be around receiver
5 speed being scanned by beam are determined by the processing speed of control system.The control system with faster processor allows more
High sample frequency, it allows faster closed-loop control and the calibration of faster heliostat.This allows for the more short scan of arm 29.
The recalibration of each heliostat is executed by the continuous scanning of arm 29.For example, arm 29 can several seconds
The scanning period is continuously scanned round receiver 5 so that each heliostat at least needs to move to follow the tracks of in heliostat
It is re-calibrated as quickly as possible during the sun.Alternately, arm 29 can be in the specific time period periodically round receiver 5
It is scanned, and between these periods, arm 29 is maintained at outside the path of heliostat beam.Using one side receiver
In embodiment, arm 29 and distribution 31 can be docked in outside the path of beam, and and then rapidly inswept at regular intervals penetrate
Bundle is to manage the light quantity being blocked.The continuous scanning of arm 29 can be at regular or irregular intervals.
The gross energy loss being blocked and causing by arm 29 due to beam is by the physical size of arm 29, arm 29 away from receiver 5
The period of the continuous scanning of the distance on surface, the sweep speed of arm 29 and arm 29 determines.
Conclusion
It will be appreciated that be the significant progress invention described above providing the heliostat control aspect in solar energy collecting system.Pin
To given system hardware, the present invention allows the bigger sensing degree of accuracy of heliostat, and it is converted into the effect of the increase in collection of energy
Rate.On the contrary, for given efficiency, the present invention allow to hardware requirement loosen so that can use rather rough control hard
Part is controlling the heliostat of relatively easy design.Additionally, the present invention does not require to add to the heliostat for existing system adding
Hardware.
Explain
As it is used herein, in addition to context requires in addition that, term " scanning " or " inswept " mean to use detector（For example pass
Sensor array）Action on object or across object movement.
It is visible that the use in this manual such as term " sun ", " solar energy ", " daylight ", " light " refers to generation covering
The electromagnetic radiation of one or more of light, ultraviolet and infrared wavelength range.
As used herein, term " solid angle " mean in three dimensions to two-dimensional angular.
As used herein, term " closed-loop control " is related to wherein input and will be adjusted based on the output generating with input quantity
The mode of its own affects the control of input quantity.
Unless specifically stated otherwise, as apparent from the following discussion it should be appreciated that be throughout this specification, profit
With the discussion of the term such as " process ", " calculating ", " accounting ", " determination ", " analysis " refer to computer or computing system or
The action of similar electronic computing device and/or process, it will be indicated as physical quantity（Such as electronics）Data manipulation and/or change
Change the other data being expressed like physical quantity into.
In the same manner, term " controller " may refer to for example process electronic data to incite somebody to action from register and/or memory
This electronic data is transformed into any equipment or the equipment of the other electronic data being for example storable in register and/or memory
A part." computer " or " computing machine " or " calculating platform " may include one or more processors.
Method described herein can be executed by one or more processors in one embodiment, and this processor accepts to comprise
The computer-readable of instruction group（Also referred to as machine readable）Code, this instruction group is when being executed by one or more of processor
Implement at least one of approach described herein.Including being able to carry out specifying action to be taken（Continuously or with it
Its mode）Any processor of instruction group.Therefore, example is the exemplary process system including one or more processors
System.Each processor may include one or more of CPU, GPU and Programmable DSPs unit.Processing system is also
May include memory sub-system, it includes main RAM and/or static RAM and/or ROM.Communication between may include for assembly
Bus subsystem.Processing system can also be the distributed processing system(DPS) with the processor coupling by network.If processed
System requirements display, this class display may include such as liquid crystal display（LCD）, or cathode-ray tube（CRT）Display.As
Fruit requires manual data inputting, then processing system also includes input equipment, such as alphanumeric input unit（Such as keyboard）、
Pointing control device（Such as mouse）One or more of Deng.As used herein term memory unit（If according to
Context is apparent and unless otherwise clearly states）It is also covered by storage system（Such as disc drive unit）.Press
Processing system according to some configurations may include voice output equipment and Network Interface Unit.Memory sub-system therefore includes carrying
Computer-readable code including instruction group（For example, software）Computer readable carrier medium, this instruction group by one or
Cause one of execution method described herein or more during multiple computing device.Note that when this method include multiple
Element（For example, multiple steps）When, do not imply that the sequence of this class component, unless specifically described.Software is at it by computer
The system term of execution can reside in hard disk, or also can completely or at least partially reside in RAM and/or processor
Interior.Therefore, memory and processor also form the computer readable carrier medium of load capacity calculation machine readable code.
Additionally, computer readable carrier medium can form computer program or include in computer program
In.
In alternative embodiments, one or more processors as autonomous device operation or can connect（For example network）
Arrive other（Multiple）Processor, in network design, one or more processors can be in server user's network environment
In the capacity of server or user's machine or as the peer machines operation in peer-to-peer network or distributed network environment.Described
One or more processors can form personal computer（PC）, tablet PC, Set Top Box（STB）, personal digital assistant（PDA）, honeybee
Cellular telephone, network equipment, network router, switch or bridger or can（Continuously or otherwise）Execution is specified will
Any machine of the instruction group of the action taken by this machine.
Although note that figure illustrate only single controller and single database, it should be appreciated by those skilled in the art that
Be including but be not explicitly shown or many assemblies of describing in components described above are to not make inventive aspect dark
Puckery hard to understand.For example although only illustrating single controller, but also term " controller " should be understood to include separately or together
One group of ground execution（Or it is multigroup）Instruction is to execute any collection of the machine of any one or more in process discussed herein
Close.Similarly, term " database " may refer to single local IP access database, or is visiting locally or through Server remote
The sharing data resources asked.
One embodiment of method described herein is institute in the form of carrying the computer readable carrier medium of instruction group
State instruction group to be for example used in one or more processors（For example, or many of the part arranged as the webserver
Individual processor）The computer program of upper execution.Therefore, as it will be appreciated by those of skill in the art that arriving, can be by the reality of the present invention
Apply example and be presented as method, the device of such as special purpose device etc, the device of such as data handling system etc or computer-readable
Mounting medium, such as computer program.Computer readable carrier medium carries the computer-readable code including instruction group,
Cause one or more processors to realize a kind of method when executing this instruction group on the one or more processors.Therefore, originally
The each side of invention can take method, full hardware embodiment, full software implementation or the enforcement by the combination of software and hardware aspect
The form of example.Additionally, the present invention can take the mounting medium embodying the computer readable program code carrying in media as well（Example
As the computer program on computer-readable recording medium）Form.
Can be transmitted by network via Network Interface Unit further or receive software.Although mounting medium is exemplary
It is illustrated as single medium in embodiment, but term " mounting medium " should be understood to include and store one or more instruction groups
Single medium or multiple medium（For example, the caching server of centralized data base or distributed data base and/or association）.Also
Term " mounting medium " should be understood to include and can store, encode or carry instruction group so that by one of processor or many
Individual execute and cause this one or more processors execute the method for the present invention in any medium of any one or more.Carry
Body medium can take many forms, including but not limited to non-volatile media, Volatile media and transmission medium.Non-volatile
Medium includes such as CD, disk and magneto-optic disk.Volatile media includes dynamic memory, such as main storage.Transmission is situated between
Matter includes coaxial cable, copper cash and optical fiber, including the wire comprising bus subsystem.Transmission medium also can take sound wave or light wave
（Those generating such as during radio wave and infrared data communication）Form.For example, therefore should be by term " carrier Jie
Matter " is understood to include but is not limited to solid-state memory, the computer product being embodied with optical medium and magnetic medium；Carrying can quilt
At least one processor or one or more processors detect and represent instruction group（Its implementation method when executed）Biography
Broadcast the medium of signal；And the transmission medium in network, its carrying can process by least one of one or more processors
Device detects and represents the transmitting signal of instruction group.
It will be appreciated that the step of the method being discussed is the finger being stored in holder by execution in one embodiment
Order（Computer-readable code）Processing system（For example, computer system）Appropriate processor（Or multiple processor）Execution
's.It will also be understood that the invention is not restricted to any particular implementation or programming technique, and can be using for realizing herein
Any proper technology of described function is realizing the present invention.The invention is not restricted to any specific programming language or operation system
System.
In this specification, " embodiment ", " some embodiments " or referring to of " embodiment " are meant with reference to this reality
Apply the special characteristic described by example, structure or characteristic to be included at least one embodiment of the disclosure.Therefore, phrase "
In one embodiment ", " in certain embodiments " or " in an embodiment " differ in the appearance of diverse location throughout this specification
Surely all refer to identical embodiment.Additionally, in one or more embodiments, can in any appropriate manner by special characteristic,
Structure or property combination, such as will become apparent to for those of ordinary skill in the art according to the disclosure.
As it is used herein, except as otherwise noted, in order to describe general object ordinal adjectives " first ", "
Two ", the use of " 3rd " etc. is merely indicative the different instances of similar object and is being mentioned, and is not intended hint and so retouches
The object stated must in time, spatially, with sort or in any other way in given sequence.
In following claim and description herein, term includes, by ... constitute or it include in any
One is open term it is intended that at least including subsequent elements/features but being not excluded for other.Therefore, when in the claims
Term should not be included being construed to for the part listed thereafter or element or step being restricted during use.For example,
The scope of the equipment that expression includes A and B should not necessarily be limited to the equipment being only made up of element A and B.As used herein term bag
Any one in including or it includes or includes ... is also open term, and it also means at least to include following wanting of this term
Element/feature, but it is not excluded for other.Therefore, including with comprise to be synonym and mean to comprise.
It should be appreciated that be in the above description of the exemplary embodiment of the disclosure, sometimes by the various features of the disclosure
Single embodiment, figure or its description concentrate in together to make the disclosure rationalize and to help understand in various inventive aspects
One or more.However, disclosed method should not be construed to reflect claimed invention requirement than in each right
The intention of the more features enunciating in requirement.On the contrary, as the following claims reflect, the aspect of invention exists
In less than the single all features disclosing embodiment above.Therefore, claim after specific embodiment by thus according to
This is expressly incorporated in this specific embodiment, and each claim is individually present as the separate embodiments of the disclosure.
In addition although some embodiments as herein described include being included in other embodiments some but do not have other
Feature, the combination of the feature of different embodiments is intended in the scope of the present disclosure, and forms different embodiments, such as this area
Technical staff will be understood that.For example, in following claims, can be in any combination way using any claimed
Embodiment.
In the description herein providing, elaborate many specific detail.It is to be understood, however, that not having these specific
Embodiment of the disclosure can be put into practice in the case of details.In other cases, it is not illustrated in detail in well-known method, knot
Structure and technology so as not to make this description understanding hard to understand.
Therefore although having been described with being considered as the content of the optimal mode of the disclosure, but those skilled in the art
It will be recognized that can carrying out to it other in the case of the spirit without departing from the disclosure and changing further, and it is intended to requirement guarantor
What shield such as fell within the scope of this disclosure all such changes and modifications.For example, be merely representative of can for any rule given above
The program using.Can add to block diagram or delete function from block diagram, and can swap operation between functional blocks.Can be in this public affairs
In the range of opening, the method for description is added or delete step.
Claims (21)
1. a kind of method of the sensing for controlling the heliostat in solar collecting device, the method comprises the steps：
a）The heliostat is made to point to a direction so that incident solar energy sunward can receiver by the beam as solid angle
Target area reflects；
b）Distribution using the sensor in the path intercepting beam with predetermined time interval senses the beam from heliostat
Exist；
c）In this interim, execute closed loop control process iteratively to change the sensing of heliostat so that beam enters target
Area.
2. method according to claim 1, wherein, the distribution of sensor is located at can be around the arm of the surface movement of receiver
On.
3. the method according to claim 1 or claim 2, wherein, step c）Including sub-step：
c）i）Estimate beam position current on the receiver.
4. method according to claim 3, wherein, step c）Including sub-step：
c）ii）Position current for estimated beam is compared with the position of target area, to derive position vector.
5. method according to claim 4, wherein, step c）Including sub-step：
c）iii）Calculate sensing adjustment signal based on position vector, this sensing adjusts the actuator that signal is provided to heliostat
Control system is to change sensing.
6. according to the method that any one of claim 3 to 5 is a kind of, wherein, the estimated current location of beam is by passing through
The beam profile that the distribution of sensor is sensed determines.
7. the method according to any one of aforementioned claim, wherein, described predetermined time interval was at 0.1 second to 1 point
In the range of clock.
8. the method according to any one of aforementioned claim, wherein, described predetermined space is the time interval of rule.
9. the method according to any one of aforementioned claim, wherein, the point coordinates based on storage are come execution step
a）.
10. the method according to any one of claim 1 to 6, wherein, in step a）In, heliostat points to based on
The previously determined position of modification is come the position to calculate.
11. methods according to any one of Claims 1-4, wherein, the execution step based on the reference to external field
a）.
12. methods according to any one of aforementioned claim simultaneously execute on multiple heliostats.
13. methods according to claim 12, wherein, the distribution of sensor can be distinguished from the different settled dates in angle
The beam of mirror.
A kind of 14. control systems for solar collecting device, this device includes being arranged adjacent to many in central receiver
The individual controlled heliostat of angle, this heliostat can tilt using by solar energy as solid angle beam towards central receiver
Target area reflection, this control system includes：
Measuring apparatus, it can be scanned across the surface of the central receiver including target area, and this measuring apparatus includes being joined
It is set to the distribution from the optical sensor of the presence of beam of heliostat for the sensing；And
Controller, it is used for executing closed loop control process iteratively to change the sensing of heliostat so that beam enters target area.
15. control systems according to claim 14, wherein, described closed loop control process includes sub-step：
c）i）Estimate beam position current on the receiver.
16. control systems according to claim 15, wherein, described closed loop control process includes sub-step：
c）ii）Position current for estimated beam is compared with the position of target area, to derive position vector.
17. control systems according to claim 16, wherein, described closed loop control process includes sub-step：
c）iii）Calculate sensing adjustment signal based on position vector, this sensing adjusts the actuator that signal is provided to heliostat
Control system is to change sensing.
18. control systems according to any one of claim 14 to 17, wherein, described controller is further configured
Become the initial general direction pointing to program so that heliostat points to target area of execution.
19. control systems according to claim 18, wherein, described initial determination program of pointing to is sat based on the sensing storing
Mark and execute.
20. control systems according to claim 18, wherein, in initial sensing program, heliostat points to be based on and repaiies
The previously determined position changing is come the position to calculate.
21. control systems according to claim 16, wherein, described initial sensing program is held based on to the reference in outfield
OK.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2015903127 | 2015-08-05 | ||
| AU2015903127A AU2015903127A0 (en) | 2015-08-05 | Closed loop control system for heliostats |
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| AU2016208290B2 (en) | 2022-03-17 |
| AU2016208290A1 (en) | 2017-02-23 |
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